电池标签L051工程
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zhyinch
2020-09-15 015bafa2f40cfbf4ea884e26ebbbf398a5565b5a 
 Src/application/dw_app.c


@@ -92,7 +92,7 @@


static uint8_t tx_sync_msg[14] = {0};


static uint8_t tx_final_msg[60] = {0};


static uint8_t tx_resp_msg[22] = {0};


static uint8_t tx_near_msg[80] = {0};


 uint8_t tx_near_msg[80] = {0};




static uint32_t frame_seq_nb = 0;   


static uint32_t status_reg = 0;


@@ -266,7 +266,7 @@


u8 GetRandomSlotPos(uint32_t emptyslot)


{


   u8 i,temp_value;


   temp_value = GetRandomValue();


   temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();


   for(i=temp_value%32;i<max_slotpos;i++)


   {


      if(((emptyslot>>i)&0x1)==0)


@@ -291,10 +291,10 @@


u8 flag_finalsend,flag_getresponse,flag_rxon;


uint16_t current_count,start_count,end_count,lastsync_timer;




u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;


u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;


u32 rec_tagpos_binary;


int16_t offset=2700;


u8 motor_state,rec_remotepara_state,rec_remotepara[30];


u8 motor_state,rec_remotepara_state,rec_remotepara[80];


void NearPoll(void)


{


   


@@ -315,9 +315,10 @@


   last_nearbase_num=next_nearbase_num;


   nearbase_num=next_nearbase_num;


   recbase_num=0;


   motor_state=0;


   


   tx_near_msg[BATTARY_IDX] = Get_Battary();


   //tx_near_msg[BUTTON_IDX] = !READ_KEY0;


   tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);


@@ -327,12 +328,14 @@


   dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度


   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置


   


   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;


   para_update = 0;


   flag_finalsend=0;


   flag_rxon=1;


   flag_getresponse=0;


   start_count=HAL_LPTIM_ReadCounter(&hlptim1);


   recbase_num=0;


   timeout=ceil((float)nearbase_num*0.6)+2;


   timeout=ceil((float)nearbase_num*0.4)+2;


   end_count=start_count+(timeout<<5);


   if(end_count>=32768)


   {end_count-=32768;}


@@ -410,7 +413,8 @@


                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;


                           motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;


                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;


                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


                           


                           mainbase_lost_count=0;


@@ -425,32 +429,30 @@


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;


                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))


                           {


                              para_update = 1;


                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;


                              para_len = frame_len-22;


                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);


                           }


									


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度


                           flag_getresponse=1;


                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);


                           


                           tyncpoll_time=0;


								


                           //时间同步


                           ancsync_time=((sync_timer)*1000+tmp_time);   


                           last_slotnum=current_slotnum;


                           current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;


                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;


                           if(current_slotnum==last_slotnum-1)


                           {flag_getresponse=1;}


                           lastsync_timer=sync_timer;


                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


                           SetNextPollTime(tyncpoll_time);


                           if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])


                           {


                              g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;


                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);


                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);


                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);


                              save_com_map_to_flash();


                              delay_ms(100);


                              NVIC_SystemReset();


									


                           }




                           


                        //   count_offset=sync_count-current_count-143;


                        //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);


@@ -485,16 +487,21 @@


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;


                           


                           if(motor_state<rx_buffer[MOTORSTATE_INDEX]&&rx_buffer[MOTORSTATE_INDEX]!=3)


                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                           {


                                 motor_state=rx_buffer[MOTORSTATE_INDEX];


                           }


									


                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))


                           {


                              para_update = 1;


                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;


                              para_len = frame_len-22;


                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);


                           }


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度


                        






                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         


@@ -523,7 +530,7 @@


//            }


            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);


            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;   


      //      SetNextPollTime(tyncpoll_time);


            SetNextPollTime(tyncpoll_time);


         }


      //   tyncpoll_time=0;


         next_nearbase_num=0;


@@ -579,7 +586,22 @@


         {


            nearbase_distlist[i]=0x1ffff;


         }


			


         if(para_update)


         {


         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;


            pack_msgtype = rec_remotepara[0];


            pack_index = rec_remotepara[1];


            pack_length = rec_remotepara[2];


            if(pack_msgtype==2)


            {


                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);


               //返回一个error状态


               //SendComMap(pack_datalen,pack_index);


               save_com_map_to_flash();


               delay_ms(100);


               NVIC_SystemReset();


            }


         }


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);


HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);




@@ -623,7 +645,7 @@


         tagslotpos=GetRandomSlotPos(rec_tagpos_binary);


         //tagslotpos=rx_buffer[TAGSLOTPOS];


         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


         slottime=ceil((nearbase_num+2)*0.3)+1;


         //slottime=ceil((nearbase_num+2)*0.3)+1;


         tyncpoll_time=tagslotpos*slottime;


         tag_state=NEARPOLL;


      }